Task planning of disassembling or assembling by intelligent robots

Toshio Fukuda, Kaneyoshi Nakagawa, Fumihito Arai, Hideo Matsuura, Makoto Mizukawa

Research output: Contribution to journalArticle

Abstract

This study deals with task planning for disassembly/assembly of machine units by robots. This paper describes an algorithm for generating disassembly/assembly working, which is based on a data model of the assembly structure described by connective relations among parts. The algorithm can be divided into four stages. In the first stage, the disassembly sequence of machine units by robots is generated. In the second stage, the task is expanded to macro commands with task modules for disassembly. In the third stage, the macro command for assembly is changed by the macro command for disassembly. In the fourth stage, the macro command is expanded to the command in the work level. This algorithm is implemented as a knowledge-based system in Prolog. We have verified the effectiveness of this algorithm for experiments on disassembling/assembling machine units by robotic manipulators.

Original languageEnglish
Pages (from-to)1667-1673
Number of pages7
JournalNippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume57
Issue number537
Publication statusPublished - 1991 May

Fingerprint

Intelligent robots
Macros
Planning
Robots
Knowledge based systems
Manipulators
Data structures
Robotics
Experiments

ASJC Scopus subject areas

  • Mechanical Engineering

Cite this

Task planning of disassembling or assembling by intelligent robots. / Fukuda, Toshio; Nakagawa, Kaneyoshi; Arai, Fumihito; Matsuura, Hideo; Mizukawa, Makoto.

In: Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, Vol. 57, No. 537, 05.1991, p. 1667-1673.

Research output: Contribution to journalArticle

Fukuda, Toshio ; Nakagawa, Kaneyoshi ; Arai, Fumihito ; Matsuura, Hideo ; Mizukawa, Makoto. / Task planning of disassembling or assembling by intelligent robots. In: Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C. 1991 ; Vol. 57, No. 537. pp. 1667-1673.
@article{4ff258d3d8134872bbb2169112cd3ea3,
title = "Task planning of disassembling or assembling by intelligent robots",
abstract = "This study deals with task planning for disassembly/assembly of machine units by robots. This paper describes an algorithm for generating disassembly/assembly working, which is based on a data model of the assembly structure described by connective relations among parts. The algorithm can be divided into four stages. In the first stage, the disassembly sequence of machine units by robots is generated. In the second stage, the task is expanded to macro commands with task modules for disassembly. In the third stage, the macro command for assembly is changed by the macro command for disassembly. In the fourth stage, the macro command is expanded to the command in the work level. This algorithm is implemented as a knowledge-based system in Prolog. We have verified the effectiveness of this algorithm for experiments on disassembling/assembling machine units by robotic manipulators.",
author = "Toshio Fukuda and Kaneyoshi Nakagawa and Fumihito Arai and Hideo Matsuura and Makoto Mizukawa",
year = "1991",
month = "5",
language = "English",
volume = "57",
pages = "1667--1673",
journal = "Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C",
issn = "0387-5024",
publisher = "Japan Society of Mechanical Engineers",
number = "537",

}

TY - JOUR

T1 - Task planning of disassembling or assembling by intelligent robots

AU - Fukuda, Toshio

AU - Nakagawa, Kaneyoshi

AU - Arai, Fumihito

AU - Matsuura, Hideo

AU - Mizukawa, Makoto

PY - 1991/5

Y1 - 1991/5

N2 - This study deals with task planning for disassembly/assembly of machine units by robots. This paper describes an algorithm for generating disassembly/assembly working, which is based on a data model of the assembly structure described by connective relations among parts. The algorithm can be divided into four stages. In the first stage, the disassembly sequence of machine units by robots is generated. In the second stage, the task is expanded to macro commands with task modules for disassembly. In the third stage, the macro command for assembly is changed by the macro command for disassembly. In the fourth stage, the macro command is expanded to the command in the work level. This algorithm is implemented as a knowledge-based system in Prolog. We have verified the effectiveness of this algorithm for experiments on disassembling/assembling machine units by robotic manipulators.

AB - This study deals with task planning for disassembly/assembly of machine units by robots. This paper describes an algorithm for generating disassembly/assembly working, which is based on a data model of the assembly structure described by connective relations among parts. The algorithm can be divided into four stages. In the first stage, the disassembly sequence of machine units by robots is generated. In the second stage, the task is expanded to macro commands with task modules for disassembly. In the third stage, the macro command for assembly is changed by the macro command for disassembly. In the fourth stage, the macro command is expanded to the command in the work level. This algorithm is implemented as a knowledge-based system in Prolog. We have verified the effectiveness of this algorithm for experiments on disassembling/assembling machine units by robotic manipulators.

UR - http://www.scopus.com/inward/record.url?scp=0026159789&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0026159789&partnerID=8YFLogxK

M3 - Article

AN - SCOPUS:0026159789

VL - 57

SP - 1667

EP - 1673

JO - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C

JF - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C

SN - 0387-5024

IS - 537

ER -